01 - Combine warm milk with yeast and a pinch of sugar in a large bowl. Let stand 5–10 minutes until foamy.
02 - Add melted butter, eggs, remaining sugar, and salt to yeast mixture. Mix well to combine.
03 - Gradually add flour, mixing until a soft dough forms.
04 - Knead dough on lightly floured surface for 8–10 minutes until elastic and smooth, or use stand mixer with dough hook for 5–6 minutes.
05 - Place dough in greased bowl, cover, and let rise in warm place for 1–1.5 hours until doubled in size.
06 - Mix softened butter, sugar, lemon zest, and lemon juice until smooth and spreadable.
07 - Roll risen dough on lightly floured surface into 16x12 inch rectangle.
08 - Spread lemon filling evenly over dough, leaving 1/2 inch border.
09 - Roll up tightly from longer side. Slice into 12 equal rolls.
10 - Arrange rolls in greased 9x13 inch baking dish. Cover and let rise 30 minutes.
11 - Preheat oven to 350°F.
12 - Bake 23–27 minutes until golden brown.
13 - Cool slightly. Whisk together powdered sugar and lemon juice for glaze and drizzle over warm rolls. Garnish with extra lemon zest if desired.